Speed up poseTransformPoints

[Puttichai]

Summary

@longhongc found that poseTransformPoints is actually super slow. The changes in this pull request helps speed up poseTransformPoints function by up to 100x.

Changes include

• Take advantage of contiguous numpy array when extracting values from the inputs
• Compute transformed points explicitly instead of using RaveTransform::operator* as we can cache intermediate values used in computation.

Transforming 10 points
numpy: 0.000010 seconds per call
original poseTransformPoints: 0.000023 seconds per call
new poseTransformPoints: 0.000005 seconds per call

Transforming 1000 points
numpy: 0.000021 seconds per call
original poseTransformPoints: 0.001202 seconds per call
new poseTransformPoints: 0.000012 seconds per call

Transforming 1000000 points
numpy: 0.016562 seconds per call
original poseTransformPoints: 1.237362 seconds per call
new poseTransformPoints: 0.007604 seconds per call

[rdiankov]

thanks~